• DocumentCode
    3709203
  • Title

    Biologically Inspired Dead-beat controller for bipedal running in 3D

  • Author

    Johannes Englsberger;Pawel Kozlowski;Christian Ott

  • Author_Institution
    Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany
  • fYear
    2015
  • fDate
    9/1/2015 12:00:00 AM
  • Firstpage
    989
  • Lastpage
    996
  • Abstract
    This paper introduces a Biologically Inspired Dead-beat (BID) controller for bipedal running in 3D. The controller runs in real-time, is extremely robust against perturbations and allows for versatile running patterns. It is based on the encoding of leg forces and CoM trajectories during stance as polynomial splines, allowing for intuitive and primarily analytical controller design. The performance of the control framework is tested in various simulations for a bipedal point-mass model.
  • Keywords
    "Polynomials","Boundary conditions","Force","Legged locomotion","Acceleration","Planning"
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
  • Type

    conf

  • DOI
    10.1109/IROS.2015.7353491
  • Filename
    7353491
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3709203